• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The micro-gripper comprises a support (1) to which are articulated fingers (4) and a diaphragm (5) actuating, adjusting the spacing of the fingers (4). The support being circular, the fingers (4) can be arranged in any number around it, and the diaphragm (5) delimits a chamber with the support (1) assembled to a fluid dispensing equipment (18) whose pressure deforms elastically, the diaphragm (5) and controls a simultaneous movement of variations of finger spacings (4). Application to the capture of objects that can be very small and fragile with a determined and moderate force.
    公开号:FR3071424A1
    申请号:FR1758847
    申请日:2017-09-25
    公开日:2019-03-29
    发明作者:Johan Andre
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    © MICRO-CLIP WITH MONOBLOCK STRUCTURE.
    (© The micro-clamp comprises a support (1) to which the fingers (4) are articulated and an actuating diaphragm (5), adjusting the spacing of the fingers (4). The support being circular, the fingers (4) can be arranged in any number around it, and the diaphragm (5) delimits a chamber with the support (1) assembled to an equipment (18) distributor of fluids, the pressure of which deforms in an elastic manner, the diaphragm (5) and controls a simultaneous movement of variations in the spacing of the fingers (4).
    Application to the seizure of objects which can be very small and fragile with a determined and moderate force.
    MICRO-CLAMP WITH ONE-PIECE STRUCTURE DESCRIPTION
    The subject of the invention is a micro-clamp with a monobloc structure.
    The micro-pliers considered here are used to grasp small objects, typically a few millimeters, or of the order of a centimeter.
    It is difficult to grasp such objects reliably, without the risk of letting them escape or on the contrary of subjecting them to an excessive tightening force, by the usual pliers. We are therefore tempted to use micro-pliers, with the dimensions appropriate to the smallness of the objects to be grasped, to satisfy these conditions. The miniaturization of the usual pliers, made up of elements assembled together, can however prove difficult, and that is why micro-pliers with a monobloc structure have been proposed. An example is given in document WO 99/28094 A1, where the monobloc structure of the clamp is made of shape memory alloy, the phase change of which induces a deformation which leads to bringing the gripping fingers closer to one another. other and accomplish the tightening of an object. The fingers have a rear edge, one end of which is connected to an actuator, which undergoes the most significant deformations during the change of phase of the alloy, by a first flexible connector, and the opposite end of which is connected to an element of contact by another flexible connector. The deformations of the actuator thus cause rotations in opposite directions of the fingers around the flexible connections to the contact elements, and therefore the variations in their spacing.
    Portions of the actuator and contact elements must however be mounted on a substrate to support the micro-clamp, while allowing it to deform in the desired manner. This assembly can prove to be difficult to ensure. And the design of these pliers seems delicate enough to obtain a well determined clamping force, neither insufficient nor excessive, since the exploitation of a shape memory alloy rather amounts to switching between two invariable spacings of the fingers, and whatever the possibly variable dimensions of the objects to be entered. The properties of the clamp also depend on how it is attached to the substrate. Finally, the structure of the clamp, relatively complicated, seems to be obtainable only in a two-dimensional shape, with only two opposite fingers capable of gripping only a section of an object, while gripping by more fingers, possibly distributed around a circle, would often be preferable.
    The invention was conceived as an improvement of one-piece micro-clamps to overcome such drawbacks, and its aims are to allow gripping of objects by combined movements of several fingers while keeping good control of the forces and movements applied. , so as to grasp the object reliably, without excessive risk of letting it escape or on the contrary of breaking it by excessive tightening. The structure of the micro-clamp is monobloc so that it is well suited to small objects. Unlike known micro-clamps, it must also be easy to manufacture, including with a three-dimensional structure, comprising three or more fingers, arranged around the object grasped.
    In general form, it relates to a micro-clamp with a monobloc structure comprising at least two gripping fingers with variable spacing, a support to which the fingers are joined by flexible connectors and an actuator connected to the fingers and deformable to adjust the spacing of the fingers, characterized in that the actuator is a flexible diaphragm, and the support comprises a continuous sleeve connectable to equipment for supplying pressurized fluid and in which the diaphragm is mounted by a continuous contour.
    Greater coherence of the micro-clamp is obtained thanks to the support to which the actuator and the fingers are all connected, which makes it possible to transmit with good precision the movements of the actuator to each of the fingers. These combined movements, however, allow a certain independence, thanks to the flexibility of certain components of the clamp, including the diaphragm. And the actuating means will be a fluid supplied to a chamber delimited in particular by the support and the diaphragm, the pressure of which can be adjusted to control the spacing of the fingers or the clamping force to values determined and chosen by the user.
    In designs mainly considered, the support is annular and the diaphragm is of axisymmetric shape, conducive to uniform movements or clamping forces for all the fingers. The diaphragm may include undulations or circular ribs which reinforce this axisymmetry and the regularity of its deformations under the pressure of the fluid. It can be generally flat in a free state, or, for example, generally conical, then extending between the fingers, from the contour mounted on the support. In the latter case, it can be used to support a base on which the grasped object can remain placed, the diaphragm then extending between the contour mounted on the support and an opposite contour which is mounted on this base.
    The diaphragm can be connected to the gripping fingers by connecting rods to these and to the diaphragm by flexible connectors. In a preferred construction, allowing great uniformity of movement of the fingers, the flexible connections uniting the rods with the diaphragm lead to a rigid washer fixed to a center of the diaphragm, the rods having a conical arrangement converging towards the washer.
    As mentioned, certain preferred embodiments of the invention comprise at least three fingers distributed around the support, in particular in a regular circle. It is also possible to use fingers each comprising an end with two gripping portions, the gripping portions of the different fingers forming a discontinuous circle, and each being capable of coming into contact with the gripped object. This latter arrangement is well compatible with two fingers opposite one another. As in designs with at least three fingers, a grip of the object is made on its entire circumference, and it is safer than the grips in two opposite places of the object, made by two-dimensional micro-pliers.
    In certain preferred designs of the invention, the fingers are at a minimum spacing, corresponding to a gripping state when the diaphragm is in a free state, and to larger spacings when the diaphragm is in a state deformed by the fluid. It then suffices to release the pressure of the fluid to ensure a stable grip, with a clamping force which can be determined from the design of the clamp, and suitable for an object intended to be gripped.
    The micro-clamp of the invention can in particular be produced by a manufacturing technique by adding material by a numerically controlled machine, called a three-dimensional printer.
    The various aspects, characteristics and advantages of the invention mentioned above, as well as others, will now appear more clearly on commenting on the following figures of certain embodiments thereof, not exclusive of others:
    - Figure 1 shows an axial section of a first embodiment of micro-clamp according to the invention;
    - Figures 2 and 3, external oblique perspective views of the front and rear of the micro-clamp;
    - Figure 4, an axial section of a second embodiment;
    - Figure 5, an external oblique perspective view of the front of this second embodiment of micro-clamp;
    - Figure 6, the detail of the end of the fingers;
    - Figure 7, an axial section of a third embodiment;
    - Figure 8, an external oblique perspective view of the front of this third embodiment;
    - Figure 9, an axial section of a fourth embodiment of the micropince;
    - Figure 10, a perspective side view of this fourth embodiment;
    - Figure 11, a perspective view of the end of the fingers;
    - And Figure 12, a front view of the micro-clamp.
    A first embodiment of the invention, described by means of the first Figures 1 to 3, comprises a support 1 of circular structure, comprising a cylindrical sleeve 2 extended forwards by a flat base 3, then fingers 4 for gripping an object, five in number in this embodiment, and a flexible diaphragm 5 for actuating the micro-clamp. The support 1 is a part of revolution around which the fingers 4 are uniformly distributed, being connected to the front face of the base 3 by flexible connectors 6. In this description, the front of the micro-clamp corresponds to the direction towards the tips of the fingers 4 and the place where the object is grasped, and the components of the micro-clamp capable of deforming are much more flexible than the other components, such as the fingers 4 and the support 1 that 'We can consider rigid when a mechanical stress is applied to them. In other words, the deformations will be located almost exclusively on these so-called flexible constituents. The fingers 4 have a conical arrangement and their front ends, opposite the flexible connections 6, form jaws 7 for gripping an object. The jaws 7 each comprise a flat surface 8 directed towards the front and an internal surface 9 in an arc of a circle, which allow the object to be grasped by being placed on them and clamped between them.
    The diaphragm 5 is housed in the support 1 and more precisely in the sleeve 2, having a circular external contour 10 joined without discontinuity to the internal face of the latter. It is essentially flat in the free or at rest state, that is to say that it extends in a mean plane situated perpendicular to the axis X of the micro-clamp. However, it is not flat, but composed of corrugations 11 concentric at its center 12, and it also comprises, on the face directed towards the rear of the micro-clamp, ribs 13 also circular and concentric at the center 12. The structure composed of support 1 and diaphragm 5 is therefore axisymmetric to the X axis.
    The center 12 carries a rigid washer 14 connected to each of the fingers 4 by a return link rod 15, provided at its connection ends with the washer 14 and with the finger 4 with flexible connectors 16 and 17.
    The micro-clamp is designed so that its support 1 is tightly connected to a tube 18 or similar equipment which is capable of forming a closed and sealed chamber with the support 1 and the diaphragm 5, in which a pressurized fluid can to be introduced. The pressure of the fluid deforms the diaphragm 5 by causing it to bulge forward, with the effect of pushing on the return link rods 15 and causing the fingers 4 to tilt around the flexible connectors 6, moving them apart from one another, in particular at the jaws 7 position. By spreading the jaws 7, it is possible to grasp an object or to release an object previously grasped. By releasing the pressure of the fluid, the micro-clamp, previously subjected to elastic stresses, returns to the free state in which the fingers 4 are at their minimum spacing, or, if an object has been grasped, it is clamped with a determined and moderate effort. Conversely, the diaphragm 5 can be biased by a vacuum to directly close the fingers 4. The deformations of the diaphragm 5 are in principle axisymmetric, which favor the undulations 11 and the ribs 13, but the structure of the micro-clamp is however sufficiently flexible overall to allow slight independence of movement of the fingers 4, adapting to possible irregularities in the shape of the objects seized.
    An alternative embodiment is described by means of FIGS. 4, 5 and 6. It differs from the previous one mainly in that the fingers, now 104, are only two in number and opposite one another, and in what their jaws, now 107, include concave surfaces 108 to their internal gripping faces, which face each other. This arrangement makes it possible to grasp and properly retain balls 109 between the concave surfaces 108. The rest of the micro-clamp is unchanged. More generally, the jaws can be designed to have gripping faces having shapes that are complementary to the shapes of the objects that are intended to be grasped. The jaws may thus, for example, have internal faces with cylindrical concavities for gripping cylindrical objects. Two opposite fingers are then perfectly sufficient to securely and stably hold the object seized.
    Another exemplary embodiment is that of FIGS. 7 and 8, which describes an embodiment which is distinguished from the preference in that the fingers, now 204, and always two in number and opposite to each other, include jaws 207 forked, each comprising an outer end curved in an arc 208 with two ends in points 209 directed towards the other of the jaws 207. In addition, the jaws 207 have a planar surface 210 lower, for placing the object seized. These jaws 207 make it possible to easily grasp cylindrical objects, by resting their lower face on the flat surfaces 210 and by enclosing their peripheral surface between the arcs 208, or else between the points 209, which are situated approximately in a discontinuous circle while being facing in pairs, each of the tips 209 coming opposite a tip 209 of the other of the fingers 204.
    Another embodiment of the invention is described by means of FIGS. 9, 10, 11 and 12. The fingers, now 304, can be similar to those of the immediately preceding embodiment in that they comprise forked jaws 307, each provided at their ends of two gripping points 309 which come in a circle around the object to be grasped. When the fingers 304 are brought together, pairs of the points 309, located on the two fingers 307 and facing each other, approach to carry out the tightening. The embodiment comprises a surface for placing the object, now 310, which is not placed on the jaws 307, but at the top of an upper base 311 located between the fingers 304 and separated from them. The diaphragm 305 of this embodiment is different and of conical shape, extending along the axis X of the micro-clamp, between a first contour, now 312, circular joined to the support 301 (now at the upper face of its base 303 ), and another contour 313, opposite the previous one, united to the upper base 311. The operation of the device is identical to that of the previous ones, the chamber in which the pressure of the actuating fluid can be established being delimited by the tube 18, the support 301, the diaphragm 305, and now also by the upper base 311, which is here hollowed out, but obstructed by a plug 314. As previously, return rods, now 315, are used to connect the diaphragm 305 to the fingers 304, but their arrangement here is different, since they are here approximately perpendicular to the fingers 304, with an arrangement approximately perpendicular to the axis X, and that they do not converge towards each other others, but are located all around the diaphragm 305. The deformation of the latter is therefore exerted by swelling between the contours 312 and 313 in the direction perpendicular to the axis X, with the same effect of spreading the fingers 304 in causing them to tilt on the support 301 through their flexible connection 306 thereto. As before, the diaphragm 305 is made more rigid by circular undulations concentric with the axis X, which are however superimposed in the axial direction X instead of belonging to the same plane region.
    The micro-clamp of the invention, in particular in the embodiments described, will preferably be constructed in a technique known as the addition of material, by a three-dimensional printing machine, the manufacture being facilitated by the simple and largely axisymmetric shape of these components. The manufacturing material must be able to undergo repeated elastic deformations to pass between its two main states, but no other condition is necessary.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1) Micro-clamp with monobloc structure comprising at least two fingers (4, 104, 204, 304) for gripping with variable spacing, a support (1, 301) to which the fingers are joined by flexible connectors (16) and an actuator connected to the fingers and deformable to adjust the spacing of the fingers, characterized in that the actuator is a flexible diaphragm (5, 305), and the support comprises a continuous sleeve (2) connectable in a sealed manner to equipment (18) for supplying pressurized fluid and in which the diaphragm (5, 305) is mounted by a continuous contour (10, 312).
    [2" id="c-fr-0002]
    2) Micro-clamp according to claim 1, characterized in that the support is annular and the diaphragm is axisymmetric.
    [3" id="c-fr-0003]
    3) Micro-clamp according to claim 2, characterized in that the diaphragm comprises undulations (11) and / or ribs (13).
    [4" id="c-fr-0004]
    4) Micro-clamp according to any one of claims 1 to 3, characterized in that the diaphragm (5) is generally flat in a free state.
    [5" id="c-fr-0005]
    5) Micro-clamp according to claim 2 or 3, characterized in that the diaphragm (305) is generally conical in a free state and extends between the fingers (304) from the contour (312) mounted on the support ( 301).
    [6" id="c-fr-0006]
    6) Micro-clamp according to claim 5, characterized in that the diaphragm (305) extends between said contour (312) mounted on the support and an opposite continuous contour (312), mounted on a base (311) comprising a laying surface (310) of an object to be grasped by the fingers.
    [7" id="c-fr-0007]
    7) Micro-clamp according to any one of the preceding claims, characterized in that the diaphragm is connected to the fingers by rods (15, 315) united to the fingers and to the diaphragm by flexible connectors (16,17).
    [8" id="c-fr-0008]
    8) Micro-clamp according to claim 7, characterized in that the flexible connections uniting the rods to the diaphragm lead to a washer (14) rigid fixed to a center (12) of the diaphragm, the rods having a conical arrangement converging towards the washer .
    [9" id="c-fr-0009]
    9) Micro-clamp according to any one of the preceding claims, characterized in that the fingers are at least three, distributed around the support.
    [10" id="c-fr-0010]
    10) Micro-gripper according to any one of claims 1 to 9, characterized in that the fingers each comprise an end with two gripping points (209, 309), the gripping tips of the fingers forming a discontinuous circle.
    [11" id="c-fr-0011]
    11) Micro-clamp according to any one of the preceding claims,
    5 characterized in that the fingers are at a minimum spacing when the diaphragm is in a free state, and at greater spacings when the diaphragm is in a state deformed by the fluid.
    [12" id="c-fr-0012]
    12) Micro-clamp according to any one of the preceding claims, characterized in that it is produced by a manufacturing technique by adding
    10 material by a numerically controlled machine.
    类似技术:
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    同族专利:
    公开号 | 公开日
    US11034033B2|2021-06-15|
    EP3459661A1|2019-03-27|
    US20190091880A1|2019-03-28|
    FR3071424B1|2020-01-10|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0441060A2|1990-01-02|1991-08-14|Hewlett-Packard Company|Micro-gripper assembly|
    WO2002076685A1|2001-03-24|2002-10-03|Forschungszentrum Karlsruhe Gmbh|Micro-gripper|
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    DE102005046160B3|2005-09-27|2007-03-22|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.|Robot grip for manipulating articles has at least fixing flange, frame and actuator element made in one piece|
    DE102012100916A1|2012-02-03|2013-08-08|Asm Assembly Systems Gmbh & Co. Kg|Single-piece objects gripper device for use in mounting machine for mounting electronic components on printed circuit board, has gripper element actively connected with pliers element for gripping objects during actuation of membrane|
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    EP3641990A1|2017-06-22|2020-04-29|Gordon T. Zitting|Robot gripper|
    EP3530415A1|2018-02-27|2019-08-28|Piab Ab|Vacuum powered gripper|DE102019003714B4|2019-05-25|2021-05-06|Festo Se & Co. Kg|One-piece molded gripping device with support and bending arms|
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    法律状态:
    2019-03-29| PLSC| Search report ready|Effective date: 20190329 |
    2019-09-30| PLFP| Fee payment|Year of fee payment: 3 |
    2020-09-30| PLFP| Fee payment|Year of fee payment: 4 |
    2021-09-30| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1758847|2017-09-25|
    FR1758847A|FR3071424B1|2017-09-25|2017-09-25|MONOBLOCK STRUCTURAL MICRO-PLIERS|FR1758847A| FR3071424B1|2017-09-25|2017-09-25|MONOBLOCK STRUCTURAL MICRO-PLIERS|
    US15/929,046| US11034033B2|2017-09-25|2018-09-21|Micro-gripper with one-piece structure|
    EP18196015.4A| EP3459661A1|2017-09-25|2018-09-21|Single-piece structure micro-clip|
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